Partial Contact Force Controllability in Active Wheeled Vehicles

[+] Author and Article Information
B. J. Choi, S. V. Sreenivasan

Department of Mechanical Engineering The University of Texas at Austin Austin, TX 78712

J. Mech. Des 123(2), 169-175 (Feb 01, 1998) (7 pages) doi:10.1115/1.1357872 History: Received February 01, 1998
Copyright © 2001 by ASME
Topics: Force , Vehicles , Screws
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Grahic Jump Location
A fully-parallel kinematic chain vehicle model
Grahic Jump Location
(a) Active three wheeled vehicle, and (b) Active six legged vehicle with three legs in contact with surface (each leg is equally spaced on the vehicle body by 60 deg)
Grahic Jump Location
Contact angle λi and four reciprocal wrench systems (axis x is on the wheel plane and parallel to the x axis)
Grahic Jump Location
Leg ‘i’ of the example ALV




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